CN113421356A - System and method for inspecting equipment in complex environment - Google Patents
System and method for inspecting equipment in complex environment Download PDFInfo
- Publication number
- CN113421356A CN113421356A CN202110750999.1A CN202110750999A CN113421356A CN 113421356 A CN113421356 A CN 113421356A CN 202110750999 A CN202110750999 A CN 202110750999A CN 113421356 A CN113421356 A CN 113421356A
- Authority
- CN
- China
- Prior art keywords
- data
- environment
- equipment
- inspection
- inspected
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
- G07C1/20—Checking timed patrols, e.g. of watchman
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/29—Geographical information databases
Abstract
The invention provides a system and a method for inspecting equipment in a complex environment.A device monitoring subsystem (2) acquires position data and state data of installed inspected equipment (1); the inspection terminal (3) acquires surrounding environment data; generating real-time pose data based on the current surrounding environment data of the inspection terminal (3) and a pre-constructed environment map and pushing the real-time pose data to the inspection terminal (3); and the inspection terminal (3) fuses the position data and the state data of the inspected equipment, the surrounding environment data and the real-time pose data to generate a visual inspection navigation view. Make things convenient for the quick accurate location of personnel of patrolling and examining to be patrolled and examined equipment, avoid appearing leaking the condition such as examining, the false retrieval, improve and patrol and examine efficiency, reduce the degree of difficulty of patrolling and examining of equipment in the complex environment, reduce and patrol and examine the cost.
Description
Technical Field
The invention relates to the technical field of equipment inspection, in particular to an inspection system for equipment in a complex environment.
Background
In the field of equipment operation and maintenance, in order to ensure that operation and maintenance personnel can know the operation condition of each equipment in time and find out fault equipment in time and maintain or replace the fault equipment, equipment inspection becomes one of daily important work of the operation and maintenance personnel.
However, in the actual implementation process, the installation environment and the location of the device are complicated and varied, such as: the sheltering from of object, equipment fixing position height etc. especially erection equipment is more to because the circumstances such as time or operation and maintenance personnel information transfer lose cause the operation and maintenance personnel can't or hardly find through the vision by the equipment of patrolling and examining, cause the equipment to miss the circumstances such as examine, false retrieval, and maintain and change equipment and caused great difficulty and cost relatively, also will cause the influence to the whole normal operating of equipment.
Disclosure of Invention
Based on the problems, the invention provides a system and a method for polling equipment in a complex environment, and aims to solve the technical problems that equipment in the complex environment is easy to miss detection and false detection, low in efficiency and the like in the prior art.
An inspection system for equipment in a complex environment, comprising:
the system comprises a plurality of inspected devices, a plurality of inspection devices and a plurality of inspection control devices, wherein the inspected devices are installed in a complex environment in advance and are invisible to the vision of an inspector;
the equipment monitoring subsystem is in communication connection with each piece of equipment to be inspected and is used for acquiring position data and state data of the installed equipment to be inspected;
the inspection terminal is in communication connection with the equipment monitoring subsystem, is applied to the inspection process of the inspected equipment, and is carried and operated by an inspection worker in the inspection process;
the inspection terminal comprises:
the equipment querier is used for acquiring the position data and the state data of the equipment to be patrolled from the equipment monitoring subsystem;
the environment sensor is used for acquiring the current surrounding environment data of the inspection terminal;
the pose monitor is used for acquiring real-time pose data of the inspection terminal;
the view fusion device is respectively connected with the equipment inquiry device, the sensor and the pose monitor and is used for fusing the position data and the state data of the equipment to be inspected, the surrounding environment data and the real-time pose data to generate a visual inspection navigation view for inspection personnel to check;
and the routing inspection navigation subsystem is in communication connection with the routing inspection terminal and is used for generating real-time pose data based on the current surrounding environment data of the routing inspection terminal and a pre-constructed environment map and pushing the real-time pose data to the routing inspection terminal.
Further, the patrol inspection navigation subsystem comprises:
the characteristic extraction module is used for acquiring surrounding environment data from the environment perceptron and extracting environment characteristic data from the surrounding environment data;
the map building module is used for storing a pre-built environment map;
and the positioning module is respectively connected with the feature extraction module and the map construction module and used for calculating the current real-time pose data of the inspection terminal according to the environment feature data and the environment map and sending the real-time pose data to the inspection terminal.
Furthermore, when an environment map is constructed, the environment sensor of the inspection terminal is also used for collecting installation environment data of the inspected equipment during installation;
a feature extraction module of the patrol navigation subsystem extracts modeling feature data from the installation environment data;
the map building module is also connected with the characteristic extraction module and is also used for creating and storing an environment map according to the modeling characteristic data extracted from the installation environment data.
Furthermore, the map building module is also connected with the feature extraction module and is further used for updating the environment map according to the environment feature data extracted from the surrounding environment data.
Further, after the pose monitor acquires the real-time pose data currently inspected by the inspection terminal from the inspection navigation subsystem, the equipment inquirer automatically acquires all the inspected equipment existing around according to the real-time pose data and presents the inspected equipment in a list form, and the list presents the position information and the state information of each inspected equipment existing around.
The method for polling the equipment in the complex environment uses the polling system for the equipment in the complex environment, and comprises the following polling steps:
a1, acquiring the current ambient environment data of the inspection terminal, wherein the inspection terminal is carried and operated by an inspection worker in the inspection process;
step A2, generating real-time pose data of the inspection terminal based on the current ambient environment data of the inspection terminal and a pre-constructed environment map;
step A3, acquiring the position data and the state data of the installed inspected equipment from the equipment monitoring subsystem, wherein the inspected equipment is installed in a complex environment in advance and is invisible to the vision of an inspector;
and step A4, fusing the position data and the state data of the inspected equipment, the surrounding environment data and the real-time pose data to generate a visual inspection navigation view.
Further, step a2 includes:
step A21, extracting environment characteristic data from surrounding environment data;
and A22, calculating the current real-time pose data of the inspection terminal according to the environment characteristic data and the environment map, and sending the real-time pose data to the inspection terminal.
Further, in the installation process of the inspected device, the pre-creation process of the environment map comprises the following steps:
b1, collecting the installation environment data of the inspected equipment when the inspected equipment is installed by an environment sensor of the inspection terminal;
b2, extracting modeling feature data from the installation environment data by a feature extraction module of the routing inspection navigation subsystem;
and step B3, the map building module of the patrol inspection navigation subsystem creates an environment map according to the modeling characteristic data extracted from the installation environment data and stores the environment map.
Further, in step a1, the environment map is updated based on the environment feature data extracted from the surrounding environment data.
Further, in step A3, all the inspected devices existing around the inspection terminal are automatically acquired according to the real-time pose data in step a2 and presented in a list form, and the list presents the position information and the state information of each inspected device existing around the inspected terminal.
The beneficial technical effects of the invention are as follows: the utility model provides a system of patrolling and examining to equipment among complex environment, make full use of mobile terminal equipment, according to the fusion formation of environmental data and the position state data of being patrolled and examined equipment and patrol and examine virtual view, visual surrounding environment and the positional information and the state information who acquire being patrolled and examined equipment make things convenient for the quick accurate location of personnel of patrolling and examining to be patrolled and examined equipment, avoid appearing louing to examine, the condition such as false retrieval, improve and patrol and examine efficiency, reduce the degree of difficulty of patrolling and examining of equipment among the complex environment, reduce and patrol and examine the cost.
Drawings
FIG. 1 is a block diagram of a system for routing inspection of devices in a complex environment in accordance with the present invention;
FIG. 2 is a flow chart illustrating steps of a method for routing inspection of equipment in a complex environment according to the present invention;
FIG. 3 is a flow chart illustrating a further step of a method for routing inspection of equipment in a complex environment in accordance with the present invention;
FIG. 4 is a flow chart illustrating a further step of a method for routing inspection of equipment in a complex environment in accordance with the present invention;
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The invention is further described with reference to the following drawings and specific examples, which are not intended to be limiting.
Referring to fig. 1, the present invention provides an inspection system for equipment in a complex environment, including:
the system comprises a plurality of inspected equipment (1), a plurality of inspected equipment (1) and a plurality of inspection devices, wherein the inspected equipment (1) is installed in a complex environment in advance and is invisible to the vision of an inspector, and for example, the inspected equipment (1) is installed at a position where the vision is invisible;
the equipment monitoring subsystem (2) is in communication connection with each inspected equipment (1) and is used for acquiring the position data and the state data of the installed inspected equipment (1);
the inspection terminal (3) is in communication connection with the equipment monitoring subsystem (2), is applied to the inspection process of the inspected equipment (1), and is carried and operated by an inspection worker in the inspection process;
patrol and examine terminal (3) and include:
the equipment querier (31) is used for acquiring the position data and the state data of the equipment (1) to be inspected from the equipment monitoring subsystem (2); preferably, the system is mainly responsible for pulling the position data and the state data of the inspected equipment (1) from the equipment monitoring subsystem (2).
The environment sensor (32) is used for acquiring the current inspection ambient environment data of the inspection terminal (3) and uploading the ambient environment data to the inspection navigation subsystem (4);
the pose monitor (33) is used for acquiring real-time pose data inspected by the inspection terminal (3); the real-time pose data are mainly and continuously acquired from the patrol inspection navigation subsystem (4).
The view fusion device (34) is respectively connected with the equipment inquiry device (31), the perceptron (32) and the pose monitor (33) and is used for fusing the position data and the state data of the inspected equipment, the surrounding environment data and the real-time pose data to generate a visual inspection navigation view;
and the inspection navigation subsystem (4) is in communication connection with the inspection terminal (3) and is used for generating real-time pose data based on the current surrounding environment data of the inspection terminal (3) and a pre-constructed environment map and pushing the real-time pose data to the inspection terminal (3).
Specifically, the inspection terminal is a common mobile terminal device. The operation and maintenance personnel use the inspection terminal to accurately position and navigate the inspected equipment in the inspection process, and check the current running state of the inspected equipment based on the inspection navigation view.
Specifically, complex environment, for example, the equipment is installed in the position that the vision is invisible or difficult to see, for example sheltered from by the thing, and the mounted position is higher etc. for example, it is more to patrol and examine equipment quantity, patrols and examines the difficult environment one by one manually, is in general exactly that it is difficult to accomplish the complex environment of equipment inspection operation through human vision. Specifically, the inspected equipment is mounted on a ceiling that is not visually visible in the office area. Setting a three-dimensional coordinate of current equipment installation through a management interface of the equipment, connecting an AP Ethernet management interface through a network cable, and connecting the AP Ethernet management interface into the Ethernet. Adding all the installed equipment to be inspected into a monitoring range, and ensuring that data such as positions, states and the like reported by the equipment to be inspected can be normally received and stored; if the position coordinate information is not set in the inspected equipment, the position coordinate information can be recorded in the equipment monitoring subsystem (2).
Specifically, the inspected equipment (1) is equipment which needs to be inspected and operated in the environment.
The equipment monitoring subsystem (2) is mainly responsible for collecting and storing the position data and the real-time state data of the inspected equipment (1) and providing a management operation interface of the inspected equipment (1).
The inspection terminal (3) is responsible for continuously sensing surrounding environment data, continuously transmitting the data to the inspection navigation subsystem (4), then acquiring the current real-time pose data (position and posture) of the inspection terminal (3) from the inspection navigation subsystem (4), and simultaneously acquiring the position data and state data of the inspected equipment from the equipment monitoring subsystem (2) by the inspection terminal (3) to generate a visual inspection navigation view. The patrol navigation view facilitates the patrol personnel to check the patrolled equipment.
Specifically, the polling system is applied to polling of the wireless access point device ap (access point).
Specifically, the ambient environment data collected by the environment sensor (32) is not limited to images, IMU data of the inspection terminal, laser detection data, infrared detection data, AP wireless signal intensity and other data, and the data are transmitted to the inspection navigation subsystem (4) through WIFI or a mobile network.
Specifically, the view fusion device (34) adopts AR augmented reality technology to perform data fusion, the data are fused into navigation video data which are combined with reality and virtual and are presented to inspection personnel, the inspection personnel can accurately find a certain inspected device behind the ceiling through the navigation prompt of the inspection navigation view, and clearly check the running state of the inspected device in the inspection navigation view under the condition that the ceiling is not broken, and timely and accurate processing can be performed if the device breaks down or needs to be replaced.
Further, the patrol inspection navigation subsystem (4) comprises:
the characteristic extraction module (41) is used for acquiring surrounding environment data from the environment perceptron (32) and extracting environment characteristic data from the surrounding environment data; continuously acquiring the ambient environment data from the environment sensor (32), and sending the extracted environment characteristic data to the positioning module (43).
A map construction module (42) for storing a pre-constructed environment map;
and the positioning module (43) is respectively connected with the feature extraction module (41) and the map construction module (42) and is used for calculating the current real-time pose data of the inspection terminal (3) according to the environment feature data and the environment map and sending the real-time pose data to the inspection terminal (3).
Specifically, the positioning module (43) compares the extracted environmental feature data with feature data in an environmental map to calculate real-time pose data of the current inspection terminal (3).
Further, when an environment map is constructed, the environment sensor (32) of the inspection terminal (3) is also used for collecting installation environment data of the inspected equipment (1) during installation;
a feature extraction module (41) of the inspection navigation subsystem (4) extracts modeling feature data from the installation environment data;
the map construction module (42) is also connected with the characteristic extraction module (41) and is also used for creating and saving an environment map according to the modeling characteristic data extracted from the installation environment data.
And the patrol navigation subsystem (4) is responsible for extracting data characteristics according to the equipment installation environment data acquired by the patrol terminal (3) in the construction of the environment map, constructing the environment map and providing navigation service for the patrol terminal in the patrol process.
Furthermore, the map construction module (42) is further connected with the feature extraction module (41), and is further configured to perform an update process on the environment map according to the environment feature data extracted from the surrounding environment data.
The feature extraction module (41) continuously obtains the ambient environment data from the environment perceptron (32), and sends the extracted environment feature data to the map construction module (42), and the map construction module (42) optimizes and updates the environment map to provide more accurate positioning.
Further, the equipment monitoring subsystem (2) is used for automatically acquiring or manually recording the position data and the state data of the equipment (1) to be inspected.
Specifically, the equipment monitoring subsystem (2) is connected with the equipment to be inspected (1) through a communication interface card.
Specifically, the patrol inspection navigation subsystem (4) is connected with the patrol inspection terminal (3) through a communication interface card.
Specifically, patrol and examine terminal (3) and be mobile terminal equipment, can follow the personnel of patrolling and examining and continuously remove in the environment that is patrolled and examined equipment and is located.
Specifically, in the installation process, the equipment (1) to be inspected is installed at a specified position, and some equipment (1) to be inspected have position setting characteristics. Logging in the equipment monitoring subsystem (2), adding the installed equipment (1) to be inspected into the monitoring range of the equipment monitoring subsystem (2), determining that the position data and the state data reported by the equipment (1) to be inspected can be normally received and stored, and manually recording the position data of the equipment (1) to be inspected if the equipment to be inspected does not support the reporting of the position data.
Further, after the pose monitor (33) acquires the real-time pose data currently inspected by the inspection terminal (3) from the inspection navigation subsystem (4), the equipment inquiry unit (31) automatically acquires all the inspected equipment (1) existing around according to the real-time pose data and presents the acquired data in a list form, and the list presents the position information and the state information of each inspected equipment (1) existing around. Specifically, all the patrolled equipment (1) existing around refers to patrolled equipment existing within a certain range from the patrolling terminal (3). The equipment querier (31) automatically captures the inspected equipment existing around according to the real-time pose data, and the inspected equipment is presented in a list form, so that the conditions of missed inspection and the like can be avoided. The view fusion device (34) fuses the position data and the state data of the inspected equipment (1) with the real-time pose data and the surrounding environment data to form a visual inspection navigation view for the inspection personnel.
Referring to fig. 2, the present invention provides a method for polling devices in a complex environment, and the system for polling devices in a complex environment using the foregoing method includes the following polling steps:
a1, acquiring the current inspection ambient environment data of the inspection terminal (3), wherein the inspection terminal is carried and operated by an inspection worker in the inspection process;
a2, generating real-time pose data of the inspection terminal (3) based on the current ambient environment data of the inspection terminal (3) and a pre-constructed environment map;
a3, acquiring the position data and the state data of the installed inspected equipment (1) from the equipment monitoring subsystem; the equipment to be inspected is installed in a complex environment in advance and is invisible to the vision of inspection personnel;
and step A4, fusing the position data and the state data of the inspected equipment, the surrounding environment data and the real-time pose data to generate a visual inspection navigation view.
Referring to fig. 3, further, step a2 includes:
step A21, extracting environment characteristic data from surrounding environment data;
and A22, calculating the current real-time pose data of the inspection terminal (3) according to the environment characteristic data and the environment map, and sending the real-time pose data to the inspection terminal (3).
Further, in the installation process of the inspected device (1), the pre-creation process of the environment map comprises the following steps:
b1, collecting the installation environment data of the inspected equipment when the inspected equipment is installed by an environment sensor (32) of the inspection terminal (3);
b2, extracting modeling feature data from the installation environment data by a feature extraction module (41) of the inspection navigation subsystem (4);
and step B3, the map building module (42) of the patrol inspection navigation subsystem (4) creates an environment map according to the modeling characteristic data extracted from the installation environment data and stores the environment map.
Further, in step a1, the environment map is updated based on the environment feature data extracted from the surrounding environment data.
Further, in step A3, all the inspected devices (1) existing around the inspection terminal (3) are automatically acquired according to the real-time pose data in step a2 and presented in a list form, and the list presents the position information and the state information of each inspected device (1) existing around.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention.
Claims (10)
1. A system of patrolling and examining equipment in complex environment, includes:
the system comprises a plurality of inspected devices, a plurality of inspection devices and a control system, wherein the inspected devices are installed in the complex environment in advance and are invisible to the vision of an inspector;
the equipment monitoring subsystem is in communication connection with each piece of equipment to be inspected and is used for acquiring the position data and the state data of the installed equipment to be inspected;
the inspection terminal is in communication connection with the equipment monitoring subsystem, is applied to the inspection process of the inspected equipment, and is carried and operated by the inspection personnel in the inspection process;
the inspection terminal comprises:
the equipment querier is used for acquiring the position data and the state data of the inspected equipment from the equipment monitoring subsystem;
the environment sensor is used for acquiring the current surrounding environment data of the inspection terminal;
the position and pose monitor is used for acquiring real-time position and pose data of the inspection terminal;
the view fusion device is respectively connected with the equipment querier, the sensor and the pose monitor and is used for fusing the position data and the state data of the inspected equipment, the surrounding environment data and the real-time pose data to generate a visual inspection navigation view for inspection personnel to check;
and the routing inspection navigation subsystem is in communication connection with the routing inspection terminal and is used for generating the real-time pose data based on the current ambient environment data of the routing inspection terminal and a pre-constructed environment map and pushing the real-time pose data to the routing inspection terminal.
2. The inspection system according to claim 1, wherein the inspection navigation subsystem includes:
the characteristic extraction module is used for acquiring the ambient environment data from the environment perceptron and extracting environment characteristic data from the ambient environment data;
the map construction module is used for storing the environment map which is constructed in advance;
and the positioning module is respectively connected with the feature extraction module and the map construction module and used for calculating the current real-time pose data of the inspection terminal according to the environment feature data and the environment map and sending the real-time pose data to the inspection terminal.
3. The inspection system for the equipment in the complex environment according to claim 2, wherein when the environment map is constructed, the environment sensor of the inspection terminal is further used for collecting installation environment data of the inspected equipment when the inspected equipment is installed;
the feature extraction module of the routing inspection navigation subsystem extracts modeling feature data from the installation environment data;
the map building module is also connected with the feature extraction module and is also used for creating and storing the environment map according to the modeling feature data extracted from the installation environment data.
4. The system for inspecting equipment in a complex environment according to claim 2, wherein the map building module is further connected to the feature extraction module and further configured to update the environment map according to the environment feature data extracted from the ambient environment data.
5. The inspection system according to claim 1, wherein after the pose monitor acquires the real-time pose data of the current inspection of the inspection terminal from the inspection navigation subsystem, the equipment inquirer automatically acquires all the inspected equipment existing around according to the real-time pose data and presents the acquired data in a list form, and the list presents the position information and the state information of each inspected equipment existing around.
6. An inspection method for equipment in a complex environment, which is characterized in that the inspection system for the equipment in the complex environment according to any one of claims 1 to 5 is used, and comprises the following inspection steps:
a1, acquiring the current ambient environment data of the inspection terminal, wherein the inspection terminal is carried and operated by the inspection personnel in the inspection process;
step A2, generating real-time pose data of the inspection terminal based on the current ambient environment data of the inspection terminal and a pre-constructed environment map;
step A3, obtaining the position data and the state data of the installed inspected equipment from the equipment monitoring subsystem, wherein the inspected equipment is installed in the complex environment in advance and is invisible to the vision of the inspector;
and A4, fusing the position data and the state data of the inspected equipment, the surrounding environment data and the real-time pose data to generate a visual inspection navigation view.
7. An inspection system for equipment in a complex environment according to claim 6, wherein the step A2 includes:
step A21, extracting environment characteristic data from the surrounding environment data;
step A22, calculating the current real-time pose data of the inspection terminal according to the environment characteristic data and the environment map, and sending the real-time pose data to the inspection terminal.
8. The inspection system according to claim 6, wherein the pre-creation process of the environment map during the installation process of the inspected device comprises the following steps:
step B1, the environment sensor of the inspection terminal collects the installation environment data of the inspected equipment when being installed;
step B2, the feature extraction module of the patrol navigation subsystem extracts modeling feature data from the installation environment data;
and step B3, the map construction module of the patrol inspection navigation subsystem creates the environment map according to the modeling feature data extracted from the installation environment data and stores the environment map.
9. The inspection system for equipment in a complex environment according to claim 7, wherein in the step A1, the environment map is updated based on the environment feature data extracted from the surrounding environment data.
10. The inspection system for equipment in a complex environment according to claim 6, wherein in the step A3, all the inspected equipment existing around the inspection terminal are automatically obtained according to the real-time pose data in the step A2 and presented in a list form, and the list presents the position information and the state information of each inspected equipment existing around.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110750999.1A CN113421356B (en) | 2021-07-01 | 2021-07-01 | Inspection system and method for equipment in complex environment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110750999.1A CN113421356B (en) | 2021-07-01 | 2021-07-01 | Inspection system and method for equipment in complex environment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113421356A true CN113421356A (en) | 2021-09-21 |
| CN113421356B CN113421356B (en) | 2023-05-12 |
Family
ID=77721472
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110750999.1A Active CN113421356B (en) | 2021-07-01 | 2021-07-01 | Inspection system and method for equipment in complex environment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113421356B (en) |
Citations (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102843347A (en) * | 2011-06-24 | 2012-12-26 | 中兴通讯股份有限公司 | System, method, terminal and server for achieving mobile augmented reality service |
| CN105404231A (en) * | 2016-01-12 | 2016-03-16 | 西北工业大学 | Internet of things-based intelligent building monitoring managing system |
| CN105427504A (en) * | 2015-12-24 | 2016-03-23 | 重庆甲虫网络科技有限公司 | Wireless intelligent augmented reality firefighting monitoring system |
| CN106949895A (en) * | 2017-04-13 | 2017-07-14 | 杭州申昊科技股份有限公司 | A kind of crusing robot localization method being applied under substation |
| CN108171817A (en) * | 2018-01-10 | 2018-06-15 | 上海市地下空间设计研究总院有限公司 | Method for inspecting based on MR or AR, MR or AR equipment and cruising inspection system |
| CN207895727U (en) * | 2017-08-25 | 2018-09-21 | 北京卓华信息技术股份有限公司 | Make exercising system |
| CN108879440A (en) * | 2018-06-20 | 2018-11-23 | 国网山东省电力公司济宁供电公司 | Intelligent examination and repair system and method based on wearable augmented reality display terminal and cloud platform |
| CN109636944A (en) * | 2018-12-12 | 2019-04-16 | 国网重庆市电力公司信息通信分公司 | Wearable device power grid based on augmented reality makes an inspection tour repair method and its system |
| CN109726258A (en) * | 2018-12-20 | 2019-05-07 | 李斯嘉 | A kind of path generating method and system based on correlation rule |
| CN109801548A (en) * | 2019-01-28 | 2019-05-24 | 重庆予胜远升网络科技有限公司 | One kind is based on augmented reality pipe network inspection maintenance terminal |
| CN110279467A (en) * | 2019-06-19 | 2019-09-27 | 天津大学 | Ultrasound image under optical alignment and information fusion method in the art of puncture biopsy needle |
| CN110487286A (en) * | 2019-08-09 | 2019-11-22 | 上海电器科学研究所（集团）有限公司 | It is a kind of to project the robot pose determining method merged with laser point cloud based on point feature |
| CN110702101A (en) * | 2019-08-29 | 2020-01-17 | 全球能源互联网研究院有限公司 | Positioning method and system for power inspection scene |
| CN110967014A (en) * | 2019-10-24 | 2020-04-07 | 国家电网有限公司 | Method for indoor navigation and equipment tracking of machine room based on augmented reality technology |
| CN111024087A (en) * | 2019-12-26 | 2020-04-17 | 国网上海市电力公司 | Substation inspection navigation system and navigation method |
| CN111123925A (en) * | 2019-12-19 | 2020-05-08 | 天津联汇智造科技有限公司 | Mobile robot navigation system and method |
| CN111897332A (en) * | 2020-07-30 | 2020-11-06 | 国网智能科技股份有限公司 | Semantic intelligent substation robot humanoid inspection operation method and system |
| CN111968262A (en) * | 2020-07-30 | 2020-11-20 | 国网智能科技股份有限公司 | Semantic intelligent substation inspection operation robot navigation system and method |
| CN112330820A (en) * | 2020-11-12 | 2021-02-05 | 北京市商汤科技开发有限公司 | Information display method and device, electronic equipment and storage medium |
| CN212500734U (en) * | 2020-06-06 | 2021-02-09 | 北京优品直通信息技术有限公司 | Intelligent inspection robot |
| CN112367380A (en) * | 2020-10-29 | 2021-02-12 | 福建省数字福建云计算运营有限公司 | Machine room inspection system and method thereof |
| CN112686399A (en) * | 2020-12-24 | 2021-04-20 | 国网上海市电力公司 | Distribution room fire emergency repair method and system based on augmented reality technology |
| CN112929384A (en) * | 2021-03-05 | 2021-06-08 | 瑞丰宝丽(北京)科技有限公司 | AR intelligent point inspection system based on space anchor point |
-
2021
- 2021-07-01 CN CN202110750999.1A patent/CN113421356B/en active Active
Patent Citations (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102843347A (en) * | 2011-06-24 | 2012-12-26 | 中兴通讯股份有限公司 | System, method, terminal and server for achieving mobile augmented reality service |
| CN105427504A (en) * | 2015-12-24 | 2016-03-23 | 重庆甲虫网络科技有限公司 | Wireless intelligent augmented reality firefighting monitoring system |
| CN105404231A (en) * | 2016-01-12 | 2016-03-16 | 西北工业大学 | Internet of things-based intelligent building monitoring managing system |
| CN106949895A (en) * | 2017-04-13 | 2017-07-14 | 杭州申昊科技股份有限公司 | A kind of crusing robot localization method being applied under substation |
| CN207895727U (en) * | 2017-08-25 | 2018-09-21 | 北京卓华信息技术股份有限公司 | Make exercising system |
| CN108171817A (en) * | 2018-01-10 | 2018-06-15 | 上海市地下空间设计研究总院有限公司 | Method for inspecting based on MR or AR, MR or AR equipment and cruising inspection system |
| CN108879440A (en) * | 2018-06-20 | 2018-11-23 | 国网山东省电力公司济宁供电公司 | Intelligent examination and repair system and method based on wearable augmented reality display terminal and cloud platform |
| CN109636944A (en) * | 2018-12-12 | 2019-04-16 | 国网重庆市电力公司信息通信分公司 | Wearable device power grid based on augmented reality makes an inspection tour repair method and its system |
| CN109726258A (en) * | 2018-12-20 | 2019-05-07 | 李斯嘉 | A kind of path generating method and system based on correlation rule |
| CN109801548A (en) * | 2019-01-28 | 2019-05-24 | 重庆予胜远升网络科技有限公司 | One kind is based on augmented reality pipe network inspection maintenance terminal |
| CN110279467A (en) * | 2019-06-19 | 2019-09-27 | 天津大学 | Ultrasound image under optical alignment and information fusion method in the art of puncture biopsy needle |
| CN110487286A (en) * | 2019-08-09 | 2019-11-22 | 上海电器科学研究所（集团）有限公司 | It is a kind of to project the robot pose determining method merged with laser point cloud based on point feature |
| CN110702101A (en) * | 2019-08-29 | 2020-01-17 | 全球能源互联网研究院有限公司 | Positioning method and system for power inspection scene |
| CN110967014A (en) * | 2019-10-24 | 2020-04-07 | 国家电网有限公司 | Method for indoor navigation and equipment tracking of machine room based on augmented reality technology |
| CN111123925A (en) * | 2019-12-19 | 2020-05-08 | 天津联汇智造科技有限公司 | Mobile robot navigation system and method |
| CN111024087A (en) * | 2019-12-26 | 2020-04-17 | 国网上海市电力公司 | Substation inspection navigation system and navigation method |
| CN212500734U (en) * | 2020-06-06 | 2021-02-09 | 北京优品直通信息技术有限公司 | Intelligent inspection robot |
| CN111897332A (en) * | 2020-07-30 | 2020-11-06 | 国网智能科技股份有限公司 | Semantic intelligent substation robot humanoid inspection operation method and system |
| CN111968262A (en) * | 2020-07-30 | 2020-11-20 | 国网智能科技股份有限公司 | Semantic intelligent substation inspection operation robot navigation system and method |
| CN112367380A (en) * | 2020-10-29 | 2021-02-12 | 福建省数字福建云计算运营有限公司 | Machine room inspection system and method thereof |
| CN112330820A (en) * | 2020-11-12 | 2021-02-05 | 北京市商汤科技开发有限公司 | Information display method and device, electronic equipment and storage medium |
| CN112686399A (en) * | 2020-12-24 | 2021-04-20 | 国网上海市电力公司 | Distribution room fire emergency repair method and system based on augmented reality technology |
| CN112929384A (en) * | 2021-03-05 | 2021-06-08 | 瑞丰宝丽(北京)科技有限公司 | AR intelligent point inspection system based on space anchor point |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113421356B (en) | 2023-05-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110865917A (en) | AR technology-based electric power machine room inspection operation method, system and application | |
| CN106771856B (en) | Electric power transmission line lightning stroke point determination method based on unmanned aerial vehicle technology | |
| CN108957240A (en) | Electric network fault is remotely located method and system | |
| CN109683609B (en) | Intelligent power inspection system and method | |
| CN110543986A (en) | Intelligent monitoring system and monitoring method for external hidden danger of power transmission line | |
| CN108491758A (en) | A kind of track detection method and robot | |
| CN206194076U (en) | Substation equipment detecting system | |
| CN106600887A (en) | Video monitoring linkage system based on substation patrol robot and method thereof | |
| CN103235562A (en) | Patrol-robot-based comprehensive parameter detection system and method for substations | |
| KR102344193B1 (en) | System and method for monitoring overhead transmission line | |
| CN205050191U (en) | A information system for supervising engineering job site | |
| CN108762172A (en) | A kind of cruising inspection system of dispatching automation computer room robot | |
| CN103427366A (en) | Helicopter airborne system for controlling and recognizing power transmission line | |
| CN106713416A (en) | Wireless smart augmented reality fire-fighting monitoring system | |
| CN113225212A (en) | Data center monitoring system, method and server | |
| CN114820800A (en) | Real-time inspection method and equipment for power transmission line | |
| CN211979511U (en) | Unmanned aerial vehicle inspection system capable of automatically identifying defective insulator strings | |
| CN110007753A (en) | Sensing data display system and method based on internet and AR technology | |
| CN205846861U (en) | A kind of 500 kv substation communication equipment intelligence regular visit systems | |
| CN110492616A (en) | A kind of intelligent patrol auxiliary system and inspection method for substation | |
| CN205656732U (en) | Wireless Intelligence augmented reality fire control monitored control system | |
| CN113421356A (en) | System and method for inspecting equipment in complex environment | |
| CN209625401U (en) | A kind of region mountain flood and geological disaster comprehensive monitoring early warning system | |
| CN115980062A (en) | Industrial production line whole-process vision inspection method based on 5G | |
| CN109711500B (en) | Safety helmet type inspection terminal, transformer substation inspection system with safety helmet type inspection terminal and inspection method using system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |